def test_translation_Bx4x4(self, batch_size, device, dtype): offset = 10 trans_01 = identity_matrix(batch_size, device=device, dtype=dtype) trans_01[..., :3, -1] += offset # add offset to translation vector trans_10 = kornia.inverse_transformation(trans_01) trans_01_hat = kornia.inverse_transformation(trans_10) assert_close(trans_01, trans_01_hat, atol=1e-4, rtol=1e-4)
def test_translation_Bx4x4(self, batch_size): offset = 10 trans_01 = identity_matrix(batch_size) trans_01[..., :3, -1] += offset # add offset to translation vector trans_10 = kornia.inverse_transformation(trans_01) trans_01_hat = kornia.inverse_transformation(trans_10) assert_allclose(trans_01, trans_01_hat)
def test_translation_4x4(self): offset = 10 trans_01 = identity_matrix(batch_size=1)[0] trans_01[..., :3, -1] += offset # add offset to translation vector trans_10 = kornia.inverse_transformation(trans_01) trans_01_hat = kornia.inverse_transformation(trans_10) assert utils.check_equal_torch(trans_01, trans_01_hat)
def test_rotation_translation_Bx4x4(self, batch_size): offset = 10 x, y, z = 0, 0, kornia.pi ones = torch.ones(batch_size) rmat_01 = euler_angles_to_rotation_matrix(x * ones, y * ones, z * ones) trans_01 = identity_matrix(batch_size) trans_01[..., :3, -1] += offset # add offset to translation vector trans_01[..., :3, :3] = rmat_01[..., :3, :3] trans_10 = kornia.inverse_transformation(trans_01) trans_01_hat = kornia.inverse_transformation(trans_10) assert_allclose(trans_01, trans_01_hat)